CN102129248A - Chassis of omnidirectional moving competition robot - Google Patents

Chassis of omnidirectional moving competition robot Download PDF

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Publication number
CN102129248A
CN102129248A CN2011100210133A CN201110021013A CN102129248A CN 102129248 A CN102129248 A CN 102129248A CN 2011100210133 A CN2011100210133 A CN 2011100210133A CN 201110021013 A CN201110021013 A CN 201110021013A CN 102129248 A CN102129248 A CN 102129248A
Authority
CN
China
Prior art keywords
chassis
robot
omnidirectional
chip microcomputer
gyroscope
Prior art date
Application number
CN2011100210133A
Other languages
Chinese (zh)
Inventor
程远
许弋
陈明
王海荣
Original Assignee
无锡职业技术学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 无锡职业技术学院 filed Critical 无锡职业技术学院
Priority to CN2011100210133A priority Critical patent/CN102129248A/en
Publication of CN102129248A publication Critical patent/CN102129248A/en

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Abstract

The invention relates to a competition robot, particularly to a chassis of an omnidirectional moving competition robot. The chassis is characterized in that an omnidirectional wheels are mounted on a wheel frame through wheel shafts, and the wheel frame is connected with a body through a guide post and a compression spring; each omnidirectional wheel is respectively driven by a servo motor thereof, and a driver of the servo motor is mounted in a control cabinet; the periphery of the body are respectively provided with infrared sensors; optical matrix sensors are mounted at a lower part in the centre of the body in a matrix manner; a gyroscope is mounted at an upper part of the control cabinet; a singlechip is mounted in the control cabinet and fixed at the centre of the chassis; and the gyroscope, the servo motors, the optical matrix sensors and the infrared sensors are respectively connected with the singlechip in the control cabinet; the chassis of the omnidirectional moving competition robot can freely move in a competition terrain in transverse direction, longitudinal direction or oblique direction under the control of the singlechip; the configured optical matrix sensors and the gyroscope can be used for location of the robot in the competition terrain, and requirements on the movement of the robot in the current various robot competitions can be satisfied.

Description

Omnidirectional moving match robot chassis
Technical field
The present invention relates to a kind of match robot, particularly relate to a kind of omnidirectional moving match robot chassis.
Background technology
At present, the contest of international and domestic various robots emerges in an endless stream, to obtain good result in play, realize the desired task of match, needing to participate in competition, robot is reliable, speed fast, can overcome various obstacles, simultaneously, possesses certain place station-keeping ability, technological gap between each team participating in competition is very big, a lot of race-entry robot motions are unreliable, thereby reduced the fierce degree and the sight of match, and each team participating in competition presses for a kind of motion chassis of function admirable.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of general, simple in structure, reliable, speed is fast, function is strong, extended capability is strong, the motion of the robot that can realize competing and the omnidirectional moving of the location on place match robot chassis.
For realizing above purpose, the technical solution used in the present invention is:
Omnidirectional moving match robot chassis, form and comprise car body, control box, gyroscope, guide pillar, compression spring, vehicle wheel frame, axletree, omnidirectional's wheel, servomotor, light matrix sensor, infrared sensor, it is characterized in that: omnidirectional's wheel is installed on the vehicle wheel frame by axletree, link to each other with compression spring by guide pillar between vehicle wheel frame and the car body, make wheel can have fluctuating to a certain degree; Each free servomotor of each omnidirectional's wheel drives, and the driver of servomotor is installed in the control box; Infrared sensor is installed respectively around the car body; The light matrix sensor is installed in the car body central lower with matrix-style; Gyroscope is installed in control box top; Single-chip microcomputer is installed in the control box, and is fixed on the central authorities on chassis; Gyroscope, servomotor, light matrix sensor and infrared sensor link to each other with single-chip microcomputer in the control box respectively.
Described every servomotor links to each other with single-chip microcomputer by the RS232 bus, sends steering order by single-chip microcomputer to 4 motor servo drivers.
Described light matrix sensor has four the tunnel, and each road light matrix input circuit has used 16 infrared emission receiving tubes, and the RD0~RD7 input end of single-chip microcomputer is delivered in the output of receiving tube through 2 74HC245.
Described gyroscope links to each other with single-chip microcomputer by spi bus, is used for determining the anglec of rotation of robot automobile body.
The output of described infrared sensor connects the RA2~RA5 mouth of single-chip microcomputer.
Advantage of the present invention is: omnidirectional moving match robot chassis can be under Single-chip Controlling, freely in competition area laterally, vertically or oblique movement, movement velocity fast; The light matrix sensor and the gyroscope that are equipped with can be used for the location of robot in the place, thereby have functions such as perfect motion, location, hunting, can satisfy in the match of present various robots the requirement to the robot motion; Have very strong extended capability simultaneously, each team participating in competition can be on this basis, chassis, at the superstructure of difference match task design robot.This apparatus structure is simple, and hardware cost is cheap, and control is convenient, and reliable operation can be used in the match of various robots, has dissemination.
Description of drawings
Fig. 1 is omnidirectional moving of the present invention match robot chassis vertical view;
Fig. 2 is omnidirectional moving of the present invention match robot chassis front view;
Fig. 3 is the omnidirectional moving match chassis light matrix input amplifying circuit figure of robot of the present invention;
Fig. 4 is the omnidirectional moving match chassis control core PIC16F877A of robot single chip circuit figure of the present invention;
Fig. 5 is the omnidirectional moving match chassis motor servo driver communicating circuit figure of robot of the present invention;
Fig. 6 is omnidirectional moving of the present invention match robot chassis infrared detection sensor circuit diagram.
Embodiment
In conjunction with illustrated in figures 1 and 2, omnidirectional moving of the present invention match robot chassis comprises car body 1, control box 2, gyroscope 3, guide pillar 4, compression spring 5, vehicle wheel frame 6, axletree 7, omnidirectional's wheel 8, servomotor 9, light matrix sensor 10, infrared sensor 11; The control system on omnidirectional chassis is installed in the control box 2, single-chip microcomputer sends steering order by the RS232 bus to 4 motor servo drivers, 4 servomotors 9 of driver control are with independently speed and direction rotation separately, because 4 omnidirectional's wheels 8 have been used on the chassis, therefore, when omnidirectional wheel 8 under the drive of servomotor 9 during with friction speed and direction running, just can make the chassis directly laterally, vertical or with arbitrarily angled oblique operation, climb and fall is also very convenient; In motion process, single-chip microcomputer can obtain chassis with respect to the angle of self axle center deflection, also can be advanced in the chassis along the guiding informal voucher on the competition area by the light matrix sensor 10 that is installed under the car body 1 by gyroscope 2, and obtains the deviation distance of car body 1 with respect to a certain informal voucher; Whether the signal that single-chip microcomputer returns according to the infrared sensor 11 that is installed in around the car body 1 exists barrier around can knowing, and control robot gets around obstacle.
As shown in Figure 3, per 1 tunnel light matrix input circuit has used 16 infrared emission receiving tubes, and the RD0~RD7 input end of single-chip microcomputer is delivered in the output of receiving tube through 2 74HC245.All laid the informal voucher that the robot hunting is used on the competition area, can come hunting, and can be used for determining the deviation distance of robot with respect to some informal vouchers by utilizing the light matrix sensor.
As shown in Figure 4, the control core adopts novel PIC16F877A single-chip microcomputer, as kernel control chip, controls all external devices.Single-chip microcomputer has connected a gyroscope by spi bus, is used for determining the anglec of rotation of robot automobile body.A lot of interfaces of single-chip microcomputer are all opened to the outside world, use when being used for the further design robot superstructure of user.
As shown in Figure 5, the motor servo driver communicating circuit uses the MAX232 chip to form RS232 motor servo driver communicating circuit, on the robot chassis, used 4 servomotors as drive motor, and 4 motor servo drivers have directly been used, motor servo driver uses the RS232 bus to link to each other with single-chip microcomputer, single-chip microcomputer by serial ports to the motor servo driver sending controling instruction, and accept to come from the link order of driver, 4 drivers adopt different address codes to be distinguished.
As shown in Figure 6, robot has used 4 infrared detection sensors to be used for sniffing robot walking way obstacle all around, and among the figure, 4 sockets connect 4 infrared sensors respectively, and the output of sensor connects the RA2~RA5 mouth of single-chip microcomputer.Sensor is output as low level at ordinary times, after detecting the place ahead obstacle, produces high level signal, and after single-chip microcomputer received this signal, control robot was turned, and gets around barrier or directly turns around.

Claims (5)

1. omnidirectional moving match robot chassis, form and comprise car body, control box, gyroscope, guide pillar, compression spring, vehicle wheel frame, axletree, omnidirectional's wheel, servomotor, light matrix sensor, infrared sensor, it is characterized in that: omnidirectional's wheel is installed on the vehicle wheel frame by axletree, links to each other with compression spring by guide pillar between vehicle wheel frame and the car body; Each free servomotor of each omnidirectional's wheel drives, and the driver of servomotor is installed in the control box; Infrared sensor is installed respectively around the car body; The light matrix sensor is installed in the car body central lower with matrix-style; Gyroscope is installed in control box top; Single-chip microcomputer is installed in the control box, and is fixed on the central authorities on chassis; Gyroscope, servomotor, light matrix sensor and infrared sensor link to each other with single-chip microcomputer in the control box respectively.
2. omnidirectional moving according to claim 1 match robot chassis, it is characterized in that: described every servomotor links to each other with single-chip microcomputer by the RS232 bus.
3. omnidirectional moving according to claim 1 match robot chassis, it is characterized in that: described light matrix sensor has four the tunnel, each road light matrix input circuit has used 16 infrared emission receiving tubes, and the RD0~RD7 input end of single-chip microcomputer is delivered in the output of receiving tube through 2 74HC245.
4. omnidirectional moving according to claim 1 match robot chassis, it is characterized in that: described gyroscope links to each other with single-chip microcomputer by spi bus.
5. omnidirectional moving according to claim 1 match robot chassis, it is characterized in that: the output of described infrared sensor connects the RA2~RA5 mouth of single-chip microcomputer.
CN2011100210133A 2011-01-19 2011-01-19 Chassis of omnidirectional moving competition robot CN102129248A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011100210133A CN102129248A (en) 2011-01-19 2011-01-19 Chassis of omnidirectional moving competition robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011100210133A CN102129248A (en) 2011-01-19 2011-01-19 Chassis of omnidirectional moving competition robot

Publications (1)

Publication Number Publication Date
CN102129248A true CN102129248A (en) 2011-07-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011100210133A CN102129248A (en) 2011-01-19 2011-01-19 Chassis of omnidirectional moving competition robot

Country Status (1)

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CN (1) CN102129248A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01180010A (en) * 1988-01-08 1989-07-18 Sanyo Electric Co Ltd Moving vehicle
US5924512A (en) * 1994-12-14 1999-07-20 Fuji Electric Co., Ltd. Omnidirectional vehicle and method of controlling the same
JP2001315673A (en) * 2000-05-10 2001-11-13 Kazumori Ide Mobile robot car body controlling direction by spherical body
CN1369356A (en) * 2002-03-21 2002-09-18 上海广茂达电子信息有限公司 Personal robot
CN2723302Y (en) * 2004-09-09 2005-09-07 顾正平 Wheel walking part capable of translating randomly at any direction
CN1974301A (en) * 2006-12-29 2007-06-06 北京机械工业学院 Mobile hinge chassis and intelligent household moving platform with the chassis
CN201569917U (en) * 2009-12-09 2010-09-01 西安理工大学 Intelligent tracking drift dolly

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01180010A (en) * 1988-01-08 1989-07-18 Sanyo Electric Co Ltd Moving vehicle
US5924512A (en) * 1994-12-14 1999-07-20 Fuji Electric Co., Ltd. Omnidirectional vehicle and method of controlling the same
JP2001315673A (en) * 2000-05-10 2001-11-13 Kazumori Ide Mobile robot car body controlling direction by spherical body
CN1369356A (en) * 2002-03-21 2002-09-18 上海广茂达电子信息有限公司 Personal robot
CN2723302Y (en) * 2004-09-09 2005-09-07 顾正平 Wheel walking part capable of translating randomly at any direction
CN1974301A (en) * 2006-12-29 2007-06-06 北京机械工业学院 Mobile hinge chassis and intelligent household moving platform with the chassis
CN201569917U (en) * 2009-12-09 2010-09-01 西安理工大学 Intelligent tracking drift dolly

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
宋志刚等: "小型移动智能机器人的设计", 《自动测量与控制》, vol. 26, no. 03, 31 December 2007 (2007-12-31) *

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Application publication date: 20110720